-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.

-- 请复制该文件到cartographer_ros/cartographer_ros/configuration_files中编译
include "map_builder.lua"
include "trajectory_builder.lua"

options = {
    map_builder = MAP_BUILDER,
    trajectory_builder = TRAJECTORY_BUILDER,
    map_frame = "map",
    tracking_frame = "laser_link",
    published_frame = "laser_link",
    odom_frame = "odom",
    provide_odom_frame = true,
    publish_frame_projected_to_2d = false,
    use_odometry = false,
    use_nav_sat = false,
    use_landmarks = false,
    num_laser_scans = 1,
    num_multi_echo_laser_scans = 0,
    num_subdivisions_per_laser_scan = 1,
    num_point_clouds = 0,
    lookup_transform_timeout_sec = 0.2,
    submap_publish_period_sec = 0.3,
    pose_publish_period_sec = 5e-3,
    trajectory_publish_period_sec = 30e-3,
    rangefinder_sampling_ratio = 1.,
    odometry_sampling_ratio = 1.,
    fixed_frame_pose_sampling_ratio = 1.,
    imu_sampling_ratio = 1.,
    landmarks_sampling_ratio = 1.,
}

-- options = {
--     map_builder = MAP_BUILDER,
--     trajectory_builder = TRAJECTORY_BUILDER,
--     map_frame = "map",
--     tracking_frame = "laser_link",
--     published_frame = "laser_link",
--     odom_frame = "odom",
--     provide_odom_frame = true,
--     use_odometry = false,
--     num_laser_scans = 1,
--     num_multi_echo_laser_scans = 0,
--     num_subdivisions_per_laser_scan = 1,
--     num_point_clouds = 0,
--     lookup_transform_timeout_sec = 0.2,
--     submap_publish_period_sec = 0.3,
--     pose_publish_period_sec = 5e-3,
--     trajectory_publish_period_sec = 30e-3,
--     rangefinder_sampling_ratio = 1.,
--     odometry_sampling_ratio = 1.,
--     imu_sampling_ratio = 1.,
-- }

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
 
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65

-- SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
-- SPARSE_POSE_GRAPH.optimize_every_n_scans = 35
-- SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65

return options
